CN105979584B - A kind of localization method based on side length residual weighted - Google Patents
A kind of localization method based on side length residual weighted Download PDFInfo
- Publication number
- CN105979584B CN105979584B CN201610541937.9A CN201610541937A CN105979584B CN 105979584 B CN105979584 B CN 105979584B CN 201610541937 A CN201610541937 A CN 201610541937A CN 105979584 B CN105979584 B CN 105979584B
- Authority
- CN
- China
- Prior art keywords
- side length
- group
- base station
- information
- angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
- 238000000034 method Methods 0.000 title claims abstract description 23
- 230000004807 localization Effects 0.000 title claims abstract description 12
- 230000005540 biological transmission Effects 0.000 claims abstract description 24
- 239000000284 extract Substances 0.000 claims abstract description 4
- 238000005259 measurement Methods 0.000 claims description 28
- 230000000452 restraining effect Effects 0.000 claims description 3
- 235000013399 edible fruits Nutrition 0.000 claims 1
- 238000011156 evaluation Methods 0.000 claims 1
- 238000004422 calculation algorithm Methods 0.000 description 10
- 238000010586 diagram Methods 0.000 description 5
- 238000005516 engineering process Methods 0.000 description 5
- 241000209094 Oryza Species 0.000 description 4
- 235000007164 Oryza sativa Nutrition 0.000 description 4
- 235000009566 rice Nutrition 0.000 description 4
- 230000004888 barrier function Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 2
- 238000007796 conventional method Methods 0.000 description 2
- 238000004088 simulation Methods 0.000 description 2
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000009429 distress Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 230000008030 elimination Effects 0.000 description 1
- 238000003379 elimination reaction Methods 0.000 description 1
- 230000000116 mitigating effect Effects 0.000 description 1
- 230000006855 networking Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 230000001737 promoting effect Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04W—WIRELESS COMMUNICATION NETWORKS
- H04W64/00—Locating users or terminals or network equipment for network management purposes, e.g. mobility management
- H04W64/006—Locating users or terminals or network equipment for network management purposes, e.g. mobility management with additional information processing, e.g. for direction or speed determination
Landscapes
- Engineering & Computer Science (AREA)
- Computer Networks & Wireless Communication (AREA)
- Signal Processing (AREA)
- Mobile Radio Communication Systems (AREA)
- Position Fixing By Use Of Radio Waves (AREA)
Abstract
A kind of localization method based on side length residual weighted, comprising the following steps: the 1) signal of mobile station MS transmission is received by multiple base stations；2) all base stations are grouped, every group includes M base station；3) for each grouping, it positions master base station and extracts BS coordinate, ranging information and Angle Information in being grouped, ranging information is equivalent to TOA, Angle Information is equivalent to AOA, and two empty side lengths are acquired according to the cosine law, the difference between ranging and empty side length is finally calculated, the side length residual error of each grouping is obtained；4) TOA and AOA information is utilized to all group of base stations, MS location estimation is done according to the principle of least square, these position estimation values are known as interfix result；5) according to the weight of each group of BS of side length residual computations；6) the interfix result of each group of BS is multiplied by corresponding weight value and sums, as a result as final MS location estimation.The present invention effectively reduces error, promotes positioning accuracy.
Description
Technical field
The present invention relates to wireless location technology field, especially a kind of localization method based on side length residual weighted, according to
The weight of side length residual computations interfix result is finally weighted summation to these interfix results, realizes MS positioning.
Background technique
Wireless location, which refers to using including the parameters such as the angle and distance in reception signal, estimates mobile terminal locations
A kind of technology.In recent years, due to the demand that economic development and people live, which, which has been obtained, is widely applied, it
Business including distress call, travel information service, vehicle management etc. can be provided, while being also applied to based on position
It is the important component of Internet of Things in the charging system and intelligent transportation system of confidence breath.
In actual wireless transmission environments, due to a large amount of presence of barrier, signal is from transmitting terminal to being received
This period of time in can't along linear transmission, it generally require by transmitting and diffraction can reach receiving end.This
So that receiving end is adjusted the distance and the decline of the information accuracy of estimation such as angle, to significantly reduce the essence of wireless location algorithm
Degree.Accordingly, in the practical application of wireless location technology, reducing even reduces non line of sight (NLOS, non-line-of-sight)
Transmission bring error is necessary.The field survey of GSM network is found according to Motorola and Ericsson, NLOS
Error have between mobile station (MS, mobile station) and base station or base station (BS, base station) straight line away from
From increase and the trend that rises, this just more exacerbates the influence to traditional location algorithm precision.
Summary of the invention
The error of existing wireless positioning method is larger, the lower deficiency of positioning accuracy in order to overcome, and the present invention provides one kind
The residual weighted localization method based on side length residual error for effectively reducing error, promoting positioning accuracy.
The technical solution adopted by the present invention to solve the technical problems is:
A kind of localization method based on side length residual weighted, the localization method the following steps are included:
1) signal of mobile station MS transmission is received by multiple base stations, it is assumed that the arrival time TOA in estimated signal
With angle of arrival AOA information, and these information takens while being positioned into all participations known to master base station into positioning master base station
The BS coordinate of positioning；
2) all base stations are grouped, every group includes M base station, it is assumed that have N number of base station, then grouping number is group
Close number
3) it for each grouping, positions master base station and extracts BS coordinate, ranging information and Angle Information in being grouped first,
The ranging information is equivalent to TOA, and the Angle Information is equivalent to AOA, then acquires two empty side lengths according to the cosine law, most
The difference between ranging and empty side length is calculated afterwards, obtains the side length residual error of each grouping accordingly；
4) TOA and AOA information is utilized to all group of base stations, MS location estimation is done according to the principle of least square, these positions
It sets estimated value and is known as interfix result；
5) according to the weight of each group of BS of side length residual computations；
6) the interfix result of each group of BS is multiplied by corresponding weight value and sums, as a result as final MS location estimation.
Further, in the step 3), M=2, two base stations of group of base stations are BS1 and BS2 respectively, are located at two circles
Center of circle A point and B point, and C represents a MS, and according to the cosine law, the linear distance between A and C is expressed as:
B' in formula, a, c, θ2The calculating distance (empty side length) of A → C is respectively indicated, the BS of C → B measures distance, the BS of A → B
Between distance and the value of ∠ ABC.Wherein θ2It is exactly the angle of arrival and straight line of base station B measurementAnd the difference of X-axis angle is absolute
Value；If it is assumed that AB is X-axis, then θ2The angle of arrival of as base station B measurement, in addition, due to BS coordinate it is known that then c can be with thing
First calculate；Similarly, the linear distance between B and C can be indicated by other parameters:
A' in formula, b, θ1Respectively indicate the calculating distance (empty side length) of B → C, the BS measurement distance and ∠ BAC of C → A
Value, wherein θ1The angle of arrival of as base station A measurement；Defining side length residual error as a result, is
δ=max | a-a'|, | b-b'| } (3)
Max { } is to be maximized operation in formula.
In the step 4), using TOA and AOA information, according to the geometric meaning of measurement distance and angle of arrival, building is linear
Positioning equation group:
Y=AX (4)
Wherein R=x2+y2,The coordinate for defining MS is (x, y),
The coordinate of i-th of BS is (xi,yi), θiIt is the AOA measurement between i-th of BS and MS, riIt is the ranging between i-th of BS and MS
Information, M are the BS quantity in grouping.
In the step 4), the middle position for being MS each group of BS is estimated according to the principle of least square:
Each grouping will export an interfix result according to (5)；Assuming that the interfix result of i-th of grouping
For
In the step 5), weighting function is the negative exponent of residual error inverse, i.e.,
Wi(δ)=e-δ (7)。
In the step 6), by being weighted summation to these interfix results, restraining NLOS is transmitted to the position MS
The influence of estimation, therefore final estimated positionFor
Wherein Wi(δ) indicates the weighting function of i-th group of BS, using side length residual error as independent variable.
Technical concept of the invention are as follows: all BS are grouped, every group 2, in totalGroup.Each group of BS will do two
A work, first calculates side length residual error, and second estimates the position of MS to obtain interfix result according to the principle of least square.In
The positively related relationship of size is influenced using residual error size and NLOS transmission on the basis of this, according to side length residual computations weighted factor,
And all interfix results are weighted and summed accordingly, weighted results, that is, position MS of final output is finally estimated.
Key is that the calculation of weight, and the present invention selects side length residual sum negative exponential function effectively to inhibit as weight function
The influence of interfix result to weighting output obtained by NLOS transmission group of base stations, improves locating effect.
Beneficial effects of the present invention are mainly manifested in: in the distance (being equivalent to TOA) obtained between BS and MS and being reached
After the estimated value at angle, base station is grouped, all two side length differences are calculated by empty side length in each group of base station, and select
Select wherein absolute value the greater as side length residual error.Weighted factor is calculated with negative exponential function according to residual error size, then to each
The least square interfix result of group BS is weighted summation.The present invention reflects sensitive, weighted factor energy for NLOS error
Reflect that practical NLOS error influences with degree of precision, therefore in NLOS transmission environment, positioning accuracy of the invention is very high.
Detailed description of the invention:
Fig. 1 is the localization method processing step figure based on side length residual weighted.
Fig. 2 is positioning geometric representation.
Fig. 3 is what ranging standard deviation influenced each algorithm mean square error (RMSE:root means square errors)
Schematic diagram, wherein (a) is 2LOS-BS, (b) is 3LOS-BS.Abscissa is ranging standard deviation (unit is rice), ordinate on figure
For RMSE (unit is rice).
Fig. 4 is the schematic diagram that AOA measurement standard difference influences each algorithm RMSE, wherein (a) is 2LOS-BS, (b) is
3LOS-BS.Abscissa is angle measurement standard deviation (unit is degree) on figure, and ordinate is RMSE (unit is rice).
NLOS-BS refers to that practical LOS number of base stations is n in above-mentioned figure, and emulation uses radius of society for 1000 meters of classics 5
Cell site topology, i.e. N=5.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing.The control methods used in analogous diagram such as table 1:
Table 1
RWGH method is from document 1:Chen P C, A non-line-of-sight error in table 1
mitigation algorithm in location estimation[A],Proc.IEEE Wireless
Communications and Networking Conference WCNC ' 99 [C], New Orleans, 1999:316-320,
That is Chen PC, one of location estimation non-market value elimination algorithm [A], IEEE wireless communications in 1999 and network are international
Proceeding [C], New Orleans, 1999:316-320；CLS method is from document 2:Wang X, A TOA-based
location algorithm reducing the errors due to non-line-of-sight(NLOS)
Propagation [J], IEEE Transactions on Vehicular Technology, 2003,52 (1): 112-116,
That is Wang X, a kind of TOA positioning calculation [J] can be reduced non-line-of-sight propagation error, IEEE Vehicle Technology transactions, 2003,52 (1):
112-116。
A kind of referring to Fig.1~Fig. 4, localization method based on side length residual weighted, includes the following steps:
1) signal of mobile station MS transmission is received by multiple base stations, it is assumed that the arrival time in estimated signal
(TOA, time of arrival) and angle of arrival (AOA:angle of arrival) information, and by these information takens
Into positioning master base station, while positioning all BS coordinates for participating in positioning known to master base station；
2) all base stations are grouped, every group includes 2 base stations, it is assumed that have N number of base station, then grouping number is group
Close number
3) for each grouping, position master base station extracts first the BS coordinate in being grouped, ranging (being equivalent to TOA) information with
And angle measurement (being equivalent to AOA) information, two empty side lengths are then acquired according to the cosine law, are finally calculated between ranging and empty side length
Difference, obtain accordingly each grouping side length residual error；
4) TOA and AOA information is utilized to all group of base stations, MS location estimation is done according to the principle of least square, these positions
It sets estimated value and is known as interfix result；
5) according to the weight of each group of BS of side length residual computations；
6) the interfix result of each group of BS is multiplied by corresponding weight value and sums, as a result as final MS location estimation.
Further, the residual weighted localization method based on side length residual error is described in detail, as shown in Figure 2.Without loss of generality, it is assumed that two
A base station is located at two round center of circle A points and B point, and C represents a MS.As can be seen that be LOS transmission between B and C,
And there are barriers between A and C, thus there are NLOS transmission problems between them.Notice that Fig. 2 is merely to illustrate NLOS transmission
Schematic diagram, actual transmission environment are also likely to be that double transmission base stations LOS and double NLOS transmit base station, identification of base stations side of the invention
Method is applicable in three kinds of transmission situations.Base station A is a NLOS transmission base station, the i.e. distance and arrival of base station A measurement in Fig. 2
Angle all has NLOS error, and base station B is that LOS transmits base station, therefore its ranging and angle measurement are in close proximity to true value.
According to fig. 2, if base station A and B are LOS transmission base stations, 3 points of A, B, C may be constructed a triangle,
Thus according to the cosine law, the linear distance between A and C can be expressed as:
B' in formula, a, c, θ2The calculating distance (empty side length) of A → C is respectively indicated, the BS of C → B measures distance, the BS of A → B
Between distance and the value of ∠ ABC.Wherein θ2It is exactly the angle of arrival and straight line of base station B measurementAnd the difference of X-axis angle is absolute
Value.Without loss of generality, if it is assumed that AB is X-axis, then θ2The angle of arrival of as base station B measurement.In addition, due to BS coordinate
Know, then c can be computed in advance.Similarly, the linear distance between B and C can be indicated by other parameters
A' in formula, b, θ1Respectively indicate the calculating distance (empty side length) of B → C, the BS measurement distance and ∠ BAC of C → A
Value.It is similar with front, wherein θ1The angle of arrival of as base station A measurement.Thus, it is possible to define side length residual error and be
δ=max | a-a'|, | b-b'| } (3)
Max { } is to be maximized operation in formula.If there is no NLOS to transmit in localizing environment, side length residual error is smaller,
Otherwise it is with regard to bigger, i.e., side length residual error characterizes the severe degree that this group of BS is influenced by NLOS transmission.
In the step 4), using TOA and AOA information, according to the geometric meaning of measurement distance and angle of arrival, building is linear
Positioning equation group:
Y=AX (4)
Wherein R=x2+y2,We define the coordinate of MS herein
For (x, y), the coordinate of i-th of BS is (xi,yi), θiIt is the AOA measurement between i-th of BS and MS, riBe i-th of BS and MS it
Between ranging (being equivalent to TOA information).M is the BS quantity in grouping, and the present invention illustrates by taking M=2 as an example, and actually the present invention is also
It can be used for the situation that M is greater than 2, difference is that the number of packet of step 2) is if M is greater than 2
In the step 4), the middle position for being MS each group of BS is estimated according to the principle of least square:
Each grouping will export an interfix result according to (5).Without loss of generality, it is assumed that i-th of grouping
Interfix result isObviously as previously mentioned, NLOS transmission influences serious BS grouping, side length residual error
It is larger, while the interfix result generally also error of the group is larger.In the step 5) and step 6), by among these
Positioning result is weighted summation, and the influence to MS location estimation, therefore final estimated position can be transmitted with restraining NLOSFor
Wherein Wi(δ) indicates the weighting function of i-th group of BS, uses side length residual error as independent variable in the present invention.With reference to text
Offer 1 RWGH method, it is known that weighting function be positive number and should be independent variable subtraction function.In RWGH, it is exactly with residual error
Inverse as weighting function, but if LOS transmission base station interfix result be not affected by sufficiently large weighting, plus
The precision of power algorithm still will receive very big influence, in order to make the intermediate estimation of LOS group of base stations obtain bigger weighting coefficient,
The present invention proposes that weighting function is the secondary index of residual error inverse, i.e.,
Wi(δ)=e-δ (7)
In Fig. 1, positioning master base station obtains TOA the and AOA estimated value of each base station, then carries out to the base station for participating in positioning
Grouping, every group there are two base stations.For each group of base stations, side length residual error is calculated first with preceding formula, then according to most
Small two multiply the interfix result that principle estimates every group of BS.The interfix of side length residual sum is calculated when all group of base stations all traverse
As a result after, according to side length residual computations negative exponent weighted factor.Later, to each group of BS, corresponding weighted factor in
Between positioning result be multiplied, and all add up summation.Last weighted sum result is the final position estimation of MS.
Fig. 2 is to position geometrical relationship schematic diagram in a group of base stations.Wherein, point A and B represents two BS and point C represents one
A MS, point D indicate the electromagnetic-wave reflector on the path A-C.Distance between BSNumerical value is c, can be calculated in advance according to BS coordinate.
The distance and angle that BS is measured at point A are respectively b and θ1, the distance and angle of BS measurement are respectively a and θ at point B2。θ3For the end MS
The angle influenced by NLOS error, the present invention in do not need using the parameter, influenced herein as just angle by NLOS error
Signal.
Fig. 3 compares ranging standard deviation to the shadow of each algorithm root-mean-square error (RMSE, root mean square error)
It rings, angle measurement standard deviation is 1 degree at this time.Using classical 5 cell site topologies, base station is located at (0,0), (1000,1000), (-
1000,1000), (- 1000, -1000), (1000, -1000), unit are rice.Abscissa is the standard deviation of range measurement, indulges and sits
Mark is root-mean-square error RMSE, and nLOS-BS, which is represented, the n base station LOS in 5 base stations.It is apparent from from figure, the method for the present invention has
Best RMSE performance, the negative exponent weighted factor proposed have best performance, such as when LOS transmits base in simulation result
When standing that only 2 and ranging standard deviation are 10 meters, RMSE can achieve 40 meters or so.Show even if only a small amount of LOS transmission base
It stands, the method for the present invention is functional, is better than conventional method.
Fig. 4 compares influence of the angle measurement standard deviation to each algorithm root-mean-square error, and simulated environment is identical with Fig. 3, at this time ranging
Standard deviation is 10 meters.It is apparent from from figure, the method for the present invention has best RMSE performance, the negative exponent weighted factor tool proposed
There is best performance, for example in simulation result when LOS transmission base station only has 2 and angle measurement standard deviation is 1 degree, RMSE can reach
To 50 meters or so.Show that the method for the present invention is functional, is better than conventional method even if only a small amount of LOS transmission base station.
Claims (1)
1. a kind of localization method based on side length residual weighted, it is characterised in that: the localization method the following steps are included:
1) signal of mobile station MS transmission is received by multiple base stations, it is assumed that the arrival time TOA in estimated signal and arrived
Up to angle A OA information, and by these information takens into positioning master base station, while positioning all participation positioning known to master base station
BS coordinate；
2) all base stations are grouped, every group includes M base station, it is assumed that have N number of base station, then grouping number is number of combinations
M=2, two base stations of group of base stations are BS1 and BS2 respectively, are located at two round center of circle A points and B point, and C represents one
A MS, according to the cosine law, the linear distance between A and C is expressed as:
B' in formula, a, c, θ2The calculating distance (empty side length) of A → C is respectively indicated, the BS of C → B measures distance, the BS spacing of A → B
From and ∠ ABC value, wherein θ2It is exactly the angle of arrival and straight line of base station B measurementWith the absolute value of the difference of X-axis angle；Such as
Fruit assumes that AB is X-axis, then θ2The angle of arrival of as base station B measurement, in addition, due to BS coordinate it is known that then c can be with calculated in advance
It is good；Similarly, the linear distance between B and C is indicated by other parameters:
A' in formula, b, θ1The calculating distance (empty side length) of B → C, the BS measurement distance of C → A and the value of ∠ BAC are respectively indicated,
Wherein θ1The angle of arrival of as base station A measurement；Defining side length residual error as a result, is { | a-a'|, | b-b'| } (3) δ=max
Max { } is to be maximized operation in formula；
3) it for each grouping, positions master base station and extracts BS coordinate, ranging information and Angle Information in being grouped first, it is described
Ranging information is equivalent to TOA, and the Angle Information is equivalent to AOA, then acquires two empty side lengths according to the cosine law, finally counts
The difference between ranging and empty side length is calculated, obtains the side length residual error of each grouping accordingly；
4) TOA and AOA information is utilized to all group of base stations, MS location estimation is done according to the principle of least square, these positions are estimated
Evaluation is known as interfix result；
Linear orientation equation group is constructed according to the geometric meaning of measurement distance and angle of arrival using TOA and AOA information:
Y=AX (4)
Wherein R=x2+y2,Define MS coordinate be (x, y), i-th
The coordinate of a BS is (xi,yi), θiIt is the AOA measurement between i-th of BS and MS, riIt is the ranging letter between i-th of BS and MS
Breath, M are the BS quantity in grouping；
The middle position for being MS each group of BS is estimated according to the principle of least square:
Each grouping will export an interfix result according to (5)；Assuming that the interfix result of i-th of grouping is
5) according to the weight of each group of BS of side length residual computations；Weighting function is the negative exponent of residual error inverse, i.e.,
Wi(δ)=e-δ (7)
6) the interfix result of each group of BS is multiplied by corresponding weight value and sums, as a result as final MS location estimation；
It states in step 6), by being weighted summation to these interfix results, restraining NLOS is transmitted to MS location estimation
It influences, therefore final estimated positionFor
Wherein Wi(δ) indicates the weighting function of i-th group of BS, using side length residual error as independent variable.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610541937.9A CN105979584B (en) | 2016-07-06 | 2016-07-06 | A kind of localization method based on side length residual weighted |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610541937.9A CN105979584B (en) | 2016-07-06 | 2016-07-06 | A kind of localization method based on side length residual weighted |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105979584A CN105979584A (en) | 2016-09-28 |
| CN105979584B true CN105979584B (en) | 2019-11-05 |
Family
ID=56952094
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610541937.9A Active CN105979584B (en) | 2016-07-06 | 2016-07-06 | A kind of localization method based on side length residual weighted |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105979584B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106950540B (en) * | 2017-03-23 | 2020-01-17 | 北京理工大学 | Indoor positioning method based on residual error weighting |
| CN108882149B (en) * | 2018-06-20 | 2021-03-23 | 上海应用技术大学 | NLOS compensation positioning method of distance correlation probability |
| CN110672093B (en) * | 2019-08-23 | 2023-08-04 | 华清科盛(北京)信息技术有限公司 | Vehicle navigation positioning method based on UWB and inertial navigation fusion |
| CN111385743B (en) * | 2020-03-11 | 2021-03-19 | 北京邮电大学 | Position estimation method and device and electronic equipment |
| CN111982121B (en) * | 2020-08-21 | 2021-02-26 | 中国科学院精密测量科学与技术创新研究院 | High-precision positioning method in mixed-line-of-sight and non-line-of-sight environment |
| CN113660720B (en) * | 2021-06-23 | 2024-04-09 | 上海极维信息科技有限公司 | AoA-based multi-base-station co-location matrix algorithm |
Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102395197A (en) * | 2011-11-02 | 2012-03-28 | 北京理工大学 | TDOA cellular positioning method based on residual weighting |
| CN103152695A (en) * | 2013-02-04 | 2013-06-12 | 太原理工大学 | Time division-synchronization code division multiple access (TD-SCDMA) system-based method for accurately positioning underground personnel |
| CN103841640A (en) * | 2014-02-26 | 2014-06-04 | 浙江工业大学 | NLOS base station identifying and positioning method based on positioning position residual error |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7956808B2 (en) * | 2008-12-30 | 2011-06-07 | Trueposition, Inc. | Method for position estimation using generalized error distributions |
-
2016
- 2016-07-06 CN CN201610541937.9A patent/CN105979584B/en active Active
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102395197A (en) * | 2011-11-02 | 2012-03-28 | 北京理工大学 | TDOA cellular positioning method based on residual weighting |
| CN103152695A (en) * | 2013-02-04 | 2013-06-12 | 太原理工大学 | Time division-synchronization code division multiple access (TD-SCDMA) system-based method for accurately positioning underground personnel |
| CN103841640A (en) * | 2014-02-26 | 2014-06-04 | 浙江工业大学 | NLOS base station identifying and positioning method based on positioning position residual error |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105979584A (en) | 2016-09-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105979584B (en) | A kind of localization method based on side length residual weighted | |
| CN106125043B (en) | A kind of localization method based on position location residual weighted | |
| CN103841640B (en) | NLOS base station identifying and positioning method based on positioning position residual error | |
| CN110045324B (en) | Indoor positioning fusion method based on UWB and Bluetooth technology | |
| CN105979583B (en) | A kind of NLOS transmission identification of base stations and localization method based on side length residual error | |
| Kodippili et al. | Integration of fingerprinting and trilateration techniques for improved indoor localization | |
| CN101576615A (en) | System and method model for hybrid positioning of WSN | |
| EP1915828A1 (en) | Method and system for determining position of mobile communication device using ratio metric | |
| CN100562182C (en) | A kind of wireless positioning multi-algorithm enhancing method based on information fusion | |
| CN101466145A (en) | Dual-base-station accurate orientation method based on neural network | |
| KR101163335B1 (en) | Wireless localization method based on rssi at indoor environment and a recording medium in which a program for the method is recorded | |
| CN103002502A (en) | Positioning method and system in code division multiple access (CDMA) based on measurement report (MR) | |
| CN107241797B (en) | Based on the mono-station location method of scatterer information under NLOS environment | |
| CN102364983A (en) | RSSI (Received Signal Strength Indicator) ranging based WLS (WebLogic Server) node self-positioning method in wireless sensor network | |
| CN104965189B (en) | Indoor occupant localization method based on maximal possibility estimation | |
| CN108811082A (en) | A kind of wireless location method, system and positioning terminal | |
| CN108737952A (en) | Based on the improved polygon weighted mass center localization method of RSSI rangings | |
| CN104735779B (en) | A kind of NLOS transmission environment wireless location methods based on TROA | |
| KR100953435B1 (en) | Positioning method with combination of AoA and ToA using two base station | |
| CN106019222B (en) | A kind of quadratic programming localization method based on location algorithm residual error | |
| Jeon et al. | An adaptive AP selection scheme based on RSS for enhancing positioning accuracy | |
| KR100524180B1 (en) | Position tracking method of a mobile phone using cell position and receiving/pre-measured radio wave characteristic information | |
| Zheng et al. | The study of RSSI in wireless sensor networks | |
| CN103458500A (en) | Method and device for positioning user equipment | |
| CN102164406A (en) | Non-line-of-sight path identifying device for positioning wireless sensor node and working method of non-line-of-sight path identifying device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20160928 Assignee: Hangzhou Youshu Cloud Travel Information Technology Co.,Ltd. Assignor: JIANG University OF TECHNOLOGY Contract record no.: X2023980054817 Denomination of invention: A localization method based on edge length residual weighting Granted publication date: 20191105 License type: Common License Record date: 20240102 Application publication date: 20160928 Assignee: Hangzhou Tianyin Computer System Engineering Co.,Ltd. Assignor: JIANG University OF TECHNOLOGY Contract record no.: X2023980054814 Denomination of invention: A localization method based on edge length residual weighting Granted publication date: 20191105 License type: Common License Record date: 20240102 Application publication date: 20160928 Assignee: Hangzhou Yizheng Technology Co.,Ltd. Assignor: JIANG University OF TECHNOLOGY Contract record no.: X2023980054807 Denomination of invention: A localization method based on edge length residual weighting Granted publication date: 20191105 License type: Common License Record date: 20240102 |
|
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20160928 Assignee: HANGZHOU YONGGUAN NETWORK TECHNOLOGY CO.,LTD. Assignor: JIANG University OF TECHNOLOGY Contract record no.: X2024980000361 Denomination of invention: A localization method based on edge length residual weighting Granted publication date: 20191105 License type: Common License Record date: 20240109 |
|
| EE01 | Entry into force of recordation of patent licensing contract |